JP2019043495A - Device, system and method for adjusting automatic operation - Google Patents

Abstract

To provide an automatic operation adjusting device that realizes appropriate automatic operation suited to a driver's preference.SOLUTION: An adjusting device 1 is a device for adjusting automatic operation. A situation acquiring unit 100 acquires situation information 500 indicating a situation in which a driver intervenes during automatic operation. A parameter setting unit 110 analyzes a situation corresponding to the situation information 500 acquired by the situation acquiring unit 100, and performs setting so that a control parameter 410 of automatic operation in the situation is changed when the situation has changed.SELECTED DRAWING: Figure 2

Description

  The present invention relates to an automatic driving adjustment device, an automatic driving adjustment system, and an automatic driving adjustment method, and more particularly to an automatic driving adjustment device using status information from a car, an automatic driving adjustment system, and an automatic driving adjustment method.

In recent years, although automatic driving of vehicles has been realized, trial and error have continued to adjust control of automatic driving in accordance with the preference of the driver.
For example, referring to Patent Document 1, there is provided a driving assistance apparatus that provides driving assistance based on the driver's emotion obtained when the external environment of the vehicle and the driver's driving skill are collated with the emotion map created in advance. Have been described. A plurality of emotion maps of this device are set according to a plurality of different driving assistances, and the driving assistance means performs the driving assistance so that the driver's emotions obtained from each of the plurality of emotion maps become pleasant emotions. Make the driver have a pleasant feeling for each of a plurality of different driving support.

JP, 2015-198989, A

  However, since the technology of Patent Document 1 performs control by the uncertain element of emotion estimation, there is a fear that the accuracy of control of automatic driving may be reduced. That is, there was a possibility that appropriate automatic driving control could not be performed according to the driver's preference.

  The present invention has been made in view of such a situation, and an object of the present invention is to provide an automatic driving adjustment device which solves the above-mentioned problems.

The automatic driving adjustment device according to the present invention includes a situation acquisition unit (100) for acquiring situation information (500) indicating a situation in intervention by a driver during automatic driving, and the situation information acquired by the situation acquisition unit (100). A parameter setting unit (110) configured to analyze the situation corresponding to (500) and set the control parameter (410) of the automatic driving in the situation when the situation has changed It is characterized by being an adjusting device.
The automatic driving adjustment system of the present invention is an automatic driving adjustment system (X) including an automobile (2) that performs automatic driving and an automatic driving adjustment device (1) that adjusts the automatic driving, and the automobile (2) Is the automatic driving unit (200) that executes the automatic driving with the control parameter (410) set by the automatic driving adjustment device (1), and the automatic driving performed by the automatic driving unit (200) And an information transmission unit (210) for transmitting situation information (500) indicating a situation in intervention by the driver to the automatic driving adjustment device (1), the automatic driving adjustment device (1) including the vehicle (2) The situation corresponding to the situation information unit (100) for obtaining the situation information (500) and the situation information (500) obtained by the If it has, and is characterized in that an automatic commissioning system comprising parameter setting unit (110) be configured to change the control parameter (410) of the automatic operation in this situation.
The automatic driving adjustment method of the present invention is an automatic driving adjustment method executed by the automatic driving adjustment device (1), and acquires and acquires situation information (500) indicating a situation in intervention by the driver during automatic driving. It is an automatic driving adjustment method of analyzing the situation corresponding to the situation information (500) and setting to change the control parameter (410) of the automatic driving in the situation when the situation is changing. It is characterized by

  According to the present invention, during automatic driving, status information indicating the status of intervention by the driver is acquired, and when the status changes, the driver's preference can be obtained by changing control parameters of the automatic driving in the status. At the same time, it is possible to provide an automatic operation adjustment device capable of appropriately adjusting the control of automatic operation.

It is a system configuration figure of an automatic operation adjustment system concerning a first embodiment of the present invention. It is a block diagram showing control composition of an automatic operation adjustment system concerning a first embodiment of the present invention. It is a flowchart of the automatic driving | operation adjustment process which concerns on 1st embodiment of this invention. It is a conceptual diagram of the automatic driving | operation adjustment process shown in FIG. It is a flowchart which shows the detail of the control in the automatic driving | operation process shown in FIG. It is a conceptual diagram of the automatic driving | operation process shown in FIG.

First Embodiment
[System Configuration of Automatic Operation Adjustment System X]
First, a system configuration of an automatic driving adjustment system X according to a first embodiment of the present invention will be described with reference to FIG.
In the automatic operation adjustment system X, an adjustment device 1 and one or more vehicles 2 are connected to the network 3.

The adjustment device 1 is an automatic driving adjustment device that performs analysis or the like for adjusting control of automatic driving of the automobile 2.
The adjustment device 1 acquires situation information 500 (FIG. 2) when a driver who is a pilot who is seated at a driver's seat etc. intervenes in automatic driving of the automobile 2. Further, the adjustment device 1 analyzes the situation information 500, and sets (adjusts) the control parameter 410 for automatic driving in the situation when the situation has changed. As a result, it becomes possible to reflect the control parameter 410 of the optimal automatic driving adapted to the preference of the driver in the control of the automatic driving by the automobile 2.
The adjustment device 1 may be a PC (Personal Computer), a server (Server), a general-purpose machine, or the like.

The automobile 2 is an automobile or the like capable of autonomous driving at one or more levels.
In the present embodiment, although the automobile 2 executes control by executing an automatic driving program, for example, manual driving by steering of a driver or the like is also possible. In the present embodiment, at the time of execution of the automatic driving, when the driver actively intervenes in various situations, the situation information 500 (FIG. 2) is transmitted to the adjusting device 1.
The detailed explanation of this intervention and various situations will be described later. Further, the automobile 2 according to the present embodiment may not necessarily be a passenger car usually sold, and may be a test vehicle, a driving simulator, a game device, or the like. Further, in the present embodiment, the “driver” also includes a user of a passenger of a level four or more automated driving vehicle, a user of a passenger capable of performing some kind of intervention in the automatic driving, and the like.

  The network 3 is a mobile telephone network, a wide area network (WAN) such as the Internet, an IP network, or the like.

[Control configuration of automatic operation adjustment system X]
Next, control configurations of the adjusting device 1 and the vehicle 2 will be described with reference to FIG.
The adjustment device 1 includes a control unit 10, a storage unit 11, and the like. Each unit is connected to the control unit 10, and the operation control is performed by the control unit 10.
The automobile 2 includes a control unit 20, a storage unit 21 and the like. Each unit is connected to the control unit 20, and the operation control is performed by the control unit 20. In addition, the control unit 20 may be connected to an in-vehicle network such as a controller area network (CAN) or a local interconnect network (LIN).

The control units 10 and 20 are CPU (Central Processing Unit, Central Processing Unit), MPU (Micro Processing Unit), GPU, TPU (Tensor Processing Unit), DFP (Data Flow Processor), DSP (Digital Signal Processor), and the like. An information processing unit including an application specific processor (ASIC) and the like.
Each of the control units 10 and 20 reads out the control program stored in the auxiliary storage unit of the corresponding storage unit 11 or 21 and expands and executes this control program on the main storage unit to execute each function block. It is operated as a (functional unit). The control units 10 and 20 also control the entire devices of the adjusting device 1 and the vehicle 2.

  Also, the control unit 20 may be provided as part of the function of an ECU (Engine Control Unit). In addition, the control unit 20 may include or be connected to a circuit that realizes the function of the physical layer or the logical layer for communicating with the in-vehicle network, for example. Thereby, the control unit 20 may be able to acquire the information of the sensor 22 and the operation information corresponding to the operation of the driver. In the present embodiment, the operation information that can be acquired by the control unit 20 is, for example, the steering angle of the driver, the depression amount of the accelerator pedal or the brake pedal, the position of the shift pedal, the drive mode, the depression of the horn, the lighting of the blinker or light The operation information etc. of the operation apparatus which performs operation other than other driving | operation may be sufficient.

The storage units 11 and 21 are non-transitory tangible storage media. The storage units 11 and 21 may include a main storage unit such as a random access memory (RAM), and an auxiliary storage unit such as a read only memory (ROM), a solid state disk (SSD), or a hard disk drive (HDD). Also, the storage units 11 and 21 may include a flash memory card, an optical recording medium, and the like.
Control programs for performing operation control of the adjustment device 1 and the automobile 2 are stored in the auxiliary storage units of the storage units 11 and 21, respectively. The control program includes an operating system (OS), application software (hereinafter, simply referred to as "application"), and the like. The storage units 11 and 21 also store various data.

In addition to the steering wheel, the accelerator pedal, the brake pedal, etc., the car 2 is a car camera, a car navigation device, a radio, an audio device, an air conditioner, a car phone, a motorized window, a motorized mirror, a working seat, etc. You may provide the operating device which performs operation.
In addition, the automobile 2 may include a voice input / output device, a vibration device that feeds back each situation of the manual driving other than visual feedback, and the like.

Moreover, in addition to the above-mentioned each part, the adjustment apparatus 1 and the motor vehicle 2 may contain another component, and each part may contain several control units.
In addition, any one of the parts and any combination may be integrally configured. For example, each of the control units 10 and 20 and the storage units 11 and 21 may be integrally formed.

Further, the control unit 10 of the adjustment device 1 includes a condition acquisition unit 100 and a parameter setting unit 110.
In addition, the storage unit 11 of the adjustment device 1 stores the situation DB 400 and the control parameter 410.
Further, the control unit 20 of the automobile 2 includes an automatic driving unit 200 and an information transmission unit 210.
In addition, the storage unit 21 of the automobile 2 stores the control parameter 410 and the status information 500.

The situation acquisition unit 100 acquires situation information 500 indicating the situation in the intervention by the driver during automatic driving. The status of the automatic driving may be various statuses in the automatic driving being executed by the automatic driving unit 200 described later.
Specifically, the situation acquisition unit 100 receives the situation information 500 from the information transmission unit 210 of the automobile 2 and stores the situation information 500 in the storage unit 11. In the present embodiment, the status acquisition unit 100 classifies the status information 500 with, for example, the vehicle control status, the time status, the weather status, the road status, the traffic status, the dangerous status, etc., and stores the status information 400 in the status DB 400. You may In the present embodiment, for example, the host vehicle control state indicates the control state of the host vehicle such as speed, steering, acceleration and deceleration. In addition, the time status indicates time divisions such as morning, noon, evening, and night. Further, the condition of the weather includes a value obtained by recognizing the weather such as sunny, cloudy, rain, snow, fog, sandstorm, etc. by image recognition by the sensor 22 or the control unit 20. Road conditions include urban roads, highways, road types such as opposite lanes, speed limit, overtaking possibility, temporary stop, no entry, falling rocks and cautions, other traffic rules, etc. The traffic situation includes the current traffic situation such as the amount of pedestrians and other vehicles on the road and the average speed. Dangerous situations include dangerous situations such as obstacles, depressions, pop-outs, load collapses, and forward accidents. These situations may be classified by the automatic driving unit 200 of the automobile 2 and may be included in the situation information 500. Moreover, when storing the status information 500 in the status DB 400, the status acquisition unit 100 may also add time information. This makes it possible to judge the change of the situation in real time (real time).

The parameter setting unit 110 analyzes the situation corresponding to the situation information 500 acquired by the situation acquisition unit 100, and sets the control parameter 410 of the automatic driving in the situation when the situation has changed. . That is, the parameter setting unit 110 sets the control parameter 410 if the situation has changed when the driver intervenes during the automatic operation.
Specifically, the parameter setting unit 110 may determine, for example, whether or not the situation in the automatic driving has changed, by referring to the situation information 500 accumulated in the situation DB 400. At this time, when the situation has changed, the parameter setting unit 110 sets the control parameter 410 of the automatic driving in the situation to be changed. This is because it is estimated that the driver intervenes because "non-preference" control is performed such that the driver feels anxiety or the like in a changed situation. Therefore, the parameter setting unit 110 may set, in the control parameter 410, a set value that prevents the driver from feeling uneasy or the like to intervene in the automatic driving while realizing the safe automatic driving. In other words, even if safe automatic driving control is being performed, the driver does not necessarily feel secure depending on the control of the acceleration, steering, inter-vehicle distance, etc. of the vehicle 2. For this reason, the parameter setting unit 110 sets various variations (seasoning) of the control parameter 410 according to the driver's preference while realizing safe automatic driving.
As described above, when the driver's active intervention to the autonomous driving style is performed, the preference of the passenger to the autonomous driving is learned more accurately from the situation at the time of the intervention, thereby gradually meeting the passenger's preference. It is possible to adjust to the optimal vehicle movement.

Also, the parameter setting unit 110 may set the control parameter 410 so that the control of the automatic operation becomes gentle.
Specifically, the parameter setting unit 110, for example, refers to the situation information 500 to determine whether or not the situation of the automatic driving has changed. In this example, when the situation has changed, the parameter setting unit 110 may further set the control parameter 410 so as to perform more lax (mild) control and reflect it in the control of the automatic operation. The parameter setting unit 110 sets the inter-vehicle distance setting value of the control parameter 410 to be longer, for example, when there is a driver's intervention when the inter-vehicle distance changes short as a situation, for this control with surplus. It is also good. Further, the parameter setting unit 110 may set the inter-vehicle distance setting value of the control parameter 410 to be longer when there is a driver's intervention when the inter-vehicle distance changes short as a situation. Further, the parameter setting unit 110 may set the acceleration of the control parameter 410 to be more gently accelerated or decelerated when there is a driver's intervention when accelerating or decelerating as a situation. In addition, the parameter setting unit 110 may set the steering setting value of the control parameter 410 to more gently steer when there is a driver's intervention when steering as a situation.
By adjusting in this way, as a result, it is possible to give the driver a sense of security while realizing safe automatic driving.

In addition, in the control parameter 410, the parameter setting unit 110 may set the change parameter 520 that performs control at the time of intervention separately from the standard parameter 510 that performs standard control.
Specifically, for example, the parameter setting unit 110 performs setting to change the control only for the change parameter 520 that is changed according to the situation. That is, when performing standard control, the standard parameter 510 which the automatic driving unit 200 of the automobile 2 refers to is held as it is. For this reason, when setting the change parameter 520 to the automobile 2 and performing the automatic driving, the change parameter 520 is referred to only when a situation in which the driver has previously intervened has been reached.

The parameter setting unit 110 may change the change parameter 520 within the threshold of the range in which safe automatic driving can be realized.
In addition, the parameter setting unit 110 has less margin (sudden) when the driver does not intervene for a specific period of time and / or the driver operates the operating device that performs an operation other than driving. Change parameters 520 may be set to provide control. As a result, faster and more efficient control can be realized while securing safe automatic operation.
In addition, the parameter setting unit 110 may change the setting of the control parameter 410 according to the information indicating the attribute of the driver of the situation DB 400. As a result, it is possible to set the optimum control parameter 410 in accordance with the driver's physical ability and cognitive ability.

The automatic operation unit 200 executes automatic operation corresponding to various situations with the control parameter 410 set by the adjustment device 1. That is, in various situations, the automatic driving unit 200 controls the own vehicle, which is the driver's vehicle 2, by automatic driving corresponding to the control parameter 410. At this time, the automatic driving unit 200 acquires various information of the sensor 22, operation information of the driver from the in-vehicle network, etc., and creates situation information 500 corresponding to various situations, including information of each process of automatic driving. , And stored in the storage unit 21.
Further, the automatic driving unit 200 detects active feedback to the automatic driving by the driver as “intervention” during the execution of the automatic driving. The automatic operation unit 200 may detect an intervention based on operation information corresponding to the operation of the driver, for example, during execution of the automatic operation. Specifically, the automatic driving unit 200 performs operations such as steering, acceleration / deceleration by accelerator pedal or brake pedal, change of position of shift pedal, change of drive mode, depression of horn, lighting of blinker or light, etc. It can be detected as driver intervention. In addition, the automatic operation unit 200 can also detect as an intervention, for example, when the driver interrupts the automatic operation and performs an operation such as switching to the manual operation. In addition, when the user evaluates the recording of the traveling such as the drive recorder at the time of the automatic driving, the automatic driving unit 200 may determine that the user's intervention has occurred at the time of the evaluated recording. In this case, the automatic driving unit 200 can determine the user's intervention even if it is not in real time (real time). Therefore, the automatic driving unit 200 can store the situation information 500 as a history for a specific time.
Note that the automatic driving unit 200 may detect that the driver has operated an operating device that performs an operation other than driving, as operation information or the like as an intervention. In this case, even if it is safe control of automatic driving, the automatic driving unit 200 does not feel that there is a danger and the driver did not intervene, but judged that it intervened because it was a non-preference such as boredom. Good.

In addition, the automatic driving unit 200 may change the standard parameter 510 to the change parameter 520 and execute the automatic driving if the situation is the same as in the previous intervention.
That is, in a standard situation other than the situation when the driver intervened before, the automatic driving unit 200 controls with the standard parameter 510. When the automatic operation unit 200 detects that a situation similar to that in which the driver intervened before has come, it performs control corresponding to the corresponding situation of the change parameter 520. That is, the automatic driving unit 200 performs control with reference to the change parameter 520 when changing to the corresponding situation. Even when the automatic driving unit 200 stores the control parameter 410 adjusted by the adjusting device 1 in the storage unit 21 and reflects it on the control of automatic driving by the actual automobile 2, such control is executed even if such control is performed. Good.

The parameter setting unit 110 of the adjustment device 1 may be configured to determine the intervention by the driver. Further, the adjustment device 1 may sequentially acquire the situation information 500 from the car 2.
In addition, the automatic driving unit 200 may execute the automatic driving as a game in which the driver is made to experience the automatic driving.
In addition, the automatic operation unit 200 may receive, from the adjustment device 1, change information of the control parameter 410 for automatic operation, and apply the information to the change parameter 520 of the control parameter 410 or the like.

The information transmission unit 210 transmits, to the adjustment device 1, status information 500 indicating the status of the automatic driving performed by the automatic driving unit 200. In the present embodiment, the status information 500 may be created by the automatic operation unit 200 as described above.
Further, the information transmission unit 210 may acquire the information of the sensor 22 from the car 2 and transmit the information to the adjustment device 1.

The situation DB 400 is a database that accumulates situation information 500 in various situations. The situation DB 400 stores situation information 500 corresponding to various situations. The various situations may be classified into a vehicle control situation, a time situation, a weather situation, a road situation, a traffic situation, a danger situation, and the like.
In addition, the situation DB 400 may include various driver information including age, gender, and the like as information indicating the attribute of the driver.

The control parameter 410 is setting data for dynamics (control) of automatic driving for safely controlling the automobile 2 at the time of automatic driving. In the present embodiment, the control parameter 410 includes set values at the time of performing control of the vehicle in automatic driving. Each set value may include a plurality of values corresponding to the speed and condition of the vehicle. Further, the control parameter 410 may be set by the automatic operation unit 200 by a command from the adjustment device 1 or the like.
Specifically, the control parameter 410 may include, for example, any of an inter-vehicle distance setting value, an acceleration setting value, and a steering setting value as each setting value. The inter-vehicle distance setting value is, for example, a setting of an inter-vehicle distance between the own vehicle and another vehicle that is the other leading vehicle 2 or the like. The inter-vehicle distance setting value may be set, for example, in a range from a sufficiently safe distance at which the vehicle can be completely stopped to a distance with more margin at a specific speed of automatic driving. . In addition, the acceleration setting value may be, for example, the maximum value of acceleration when the vehicle accelerates or in principle in a safe state in automatic driving. The acceleration setting value may be set, for example, in a range from about a fraction G to about G which is about half the acceleration indicating the acceleration when the vehicle is maximally braked or accelerated. In addition, the steering setting value may be, for example, the maximum value of the degree of change in steering (angular velocity) when tracking a curve safely in automatic driving. The steering setting value may be set, for example, in a range of about several degrees per second to about several tens of degrees per second. Further, the steering setting value may be set by a formula or the like indicating a change rate which can be changed by the angle of the curve.

  The control parameters 410 may also include standard parameters 510 that perform standard control and change parameters 520 that perform control at the time of intervention. Among these, the standard parameter 510 may include each setting value of a standard (standard or default) to be referred to by the automatic operation unit 200. In addition, the change parameter 520 may include each setting value to be referred to in the corresponding situation by the automatic operation unit 200. Therefore, the change parameter 520 may include, for each corresponding situation, the type and setting of the situation information 500 indicating the situation, and the type and setting of various objects. Further, the change parameter 520 may be stored in a format like a database in which a plurality of data such as a tree structure are associated.

  The status information 500 is information indicating the status of automatic driving. The situation information 500 may be analysis data of various situations created by the automatic operation unit 200. As the data for analysis, data of the vehicle control status, time status, weather status, road status, traffic status, danger status etc. classified by the automatic driving unit 200, various types recognized by the automatic driving unit 200 Data of an object or the like, and image data of an on-vehicle camera or the like during automatic driving may be included. Among them, data of various objects, etc., such as lanes such as urban areas and expressways, traffic signs and buildings, vectors of movement with pedestrians and other vehicles on the road, obstacles, depressions, popping out, cargo collapse, etc. Data such as forward accidents, map data, etc. may be included. The status information 500 may also include the type of intervention by the driver, operation information, and the like.

Here, the control unit 10 of the adjustment device 1 executes a control program on an OS (Operating System) stored in the storage unit 11 to function as a condition acquisition unit 100, a parameter setting unit 110, and the like.
Further, the control unit 20 of the automobile 2 is caused to function as the automatic driving unit 200, the information transmission unit 210, and the like by executing the control program on the OS stored in the storage unit 21.
Also, the above-described units become hardware resources for executing the method of the present invention.
Note that part or all of the functions executed by the control units 10 and 20 may be configured as hardware by one or more ICs, DSPs, programmable logic circuits, and the like.

[Automatic operation adjustment processing by automatic operation adjustment system X]
Next, an automatic driving adjustment process according to the first embodiment of the present invention will be described with reference to FIGS.
In the automatic driving adjustment processing of the present embodiment, first, at the time of automatic driving, status information 500 indicating the status in the intervention by the driver is acquired. Then, the situation corresponding to the acquired situation information 500 is analyzed, and when the situation has changed, the change parameter 520 is set among the control parameters 410 of the automatic driving in the situation.
In the automatic driving adjustment process of the present embodiment, the control unit 10 of the adjustment device 1 mainly stores the program stored in the storage unit 11, the control unit 20 of the automobile 2 stores the program stored in the storage unit 21, Work together and execute using hardware resources.
Hereinafter, details of the automatic driving adjustment process of the present embodiment will be described step by step with reference to the flowchart of FIG. 3.

(Step S201)
First, the automatic driving unit 200 of the automobile 2 performs an automatic driving execution process.
Referring to FIG. 4, the automatic operation unit 200 executes the automatic operation with the control parameter 410 set by the adjustment device 1. At this time, the automatic driving unit 200 sequentially stores information on the state of automatic driving as the state information 500 in the storage unit 21. In the example of FIG. 4, the automatic driving unit 200 travels on a normal road according to the situation information 500, and indicates that the preceding other vehicle A2 is moving at a specific speed, and the inter-vehicle distance D It may be set.
Further, in the automatic driving, the automatic driving unit 200 performs control according to the control parameter 410 stored in the storage unit 21 for the control of the vehicle. The details of the control of the automatic driving will be described later.

(Step S202)
Next, the automatic operation unit 200 determines whether or not there is an intervention by the driver during automatic operation. The automatic driving unit 200 determines Yes when there is an intervention during execution of the automatic driving. In the other cases, the automatic driving unit 200 determines No.
In the case of Yes, the automatic operation unit 200 proceeds with the process to step S203.
In the case of No, the automatic operation unit 200 returns the process to step S201 and continues the automatic operation.

(Step S203)
When there is an intervention by the driver at the time of automatic operation, the information transmission unit 210 performs status information transmission processing.
The information transmission unit 210 transmits, to the adjustment device 1, status information 500 indicating the status at the time of intervention by the driver.

(Step S101)
Here, the condition acquisition unit 100 of the adjustment device 1 performs a condition acquisition process.
The status acquisition unit 100 acquires the status information 500 from the car 2 and stores the status information 500 in the storage unit 11. At this time, the status acquisition unit 100 may classify the status information 500 with respect to the host vehicle control status, the time status, the weather status, the road status, the traffic status, the dangerous status, and the like, and store the status information 500 in the status DB 400. In addition, the status acquisition unit 100 may add to the status information 500 that stores time information indicating the current time.

(Step S102)
Next, the parameter setting unit 110 determines whether the situation has changed. The parameter setting unit 110 refers to the situation information 500 from the situation DB 400 to compare and analyze the immediately preceding situation and the current situation, and determines whether there is a change in the situation. In the example of FIG. 4, the parameter setting unit 110 determines whether the inter-vehicle distance D has changed from the traffic situation. In this example, the parameter setting unit 110 determines Yes when the inter-vehicle distance D changes by a specified range or more based on the movement vector of another vehicle and the change in speed in control of the own vehicle by the automatic driving unit 200. to decide. In other cases, the parameter setting unit 110 determines No. The parameter setting unit 110 may also determine other vehicle control conditions, time conditions, weather conditions, road conditions, dangerous situations, and the like.
In the case of Yes, the parameter setting unit 110 proceeds with the process to step S103.
In the case of No, the parameter setting unit 110 ends the processing by the adjustment device 1 of the automatic driving adjustment processing. Thereafter, the parameter setting unit 110 continues acquiring the situation information 500.

(Step S103)
If the situation has changed, the parameter setting unit 110 performs gentle direction setting processing.
The parameter setting unit 110 sets the control parameter 410 of the automobile 2 so as to perform control with more margin. In the present embodiment, the parameter setting unit 110 calculates each setting value to be changed, and performs setting to change the change parameter 520. The parameter setting unit 110 may create a command to make the inter-vehicle distance setting value of the control parameter 410 longer in the example of FIG. 4.
When the driver intervenes by operating the operating device that performs an operation other than driving, it is estimated that the driver is non-preference such as boredom, and each setting value of the change parameter 520 is in the opposite direction to “mild” That is, it may be set in a more "rapid" direction. That is, in the example of FIG. 4, the inter-vehicle distance setting value may be set to be shorter.

(Step S104)
Here, the parameter setting unit 110 performs parameter update processing.
When sufficient data is accumulated and the change parameter 520 can be sufficiently updated, the parameter setting unit 110 transmits the change parameter 520 created in step S103 to the automobile 2.

(Step S204)
Here, the automatic driving unit 200 of the automobile 2 performs parameter reception setting processing.
The automatic operation unit 200 receives the change parameter 520 from the adjustment device 1 and performs setting to update the change parameter 520 of the control parameter 410 of the storage unit 21. Thus, the updated control parameter 410 may be reflected in the control of the automatic driving.
The parameter setting unit 110 may be configured to directly change the change parameter 520 using an FTP (File Transfer Protocol) or the like.
In addition, the update of the change parameter 520 may not be in real time, but after the end of the automatic driving of the automobile 2. That is, the data accumulated in the situation DB 400 of the adjustment device 1 may be statistically analyzed off-line, and then the change parameter 520 may be updated.
Thus, the automatic driving adjustment process of the present embodiment is completed.

  Next, details of the control of the automobile 2 in the automatic driving execution process of the present embodiment will be described with reference to FIGS. 5 and 6.

(Step S210)
The automated driving unit 200 determines whether the same situation as in the previous intervention has been reached. Specifically, for example, the parameter setting unit 110 creates the situation information 500, and thereby compares and analyzes the current situation and the immediately preceding situation. Then, when the current state is a state included in the change parameter 520, the parameter setting unit 110 determines Yes. In other cases, that is, when the situation has not changed and when the parameter setting unit 110 has changed to a situation not included in the change parameter 520, the parameter setting unit 110 determines No.
Details of this process will be described with reference to the example of FIG. FIG. 6A shows an example in which the distance between the own vehicle A1 as the automobile 2 and the other vehicle A2 is changed to a short distance as shown by the distance D1. If this situation is included in the change parameter 520 or is greater than or equal to the threshold value, the automatic driving unit 200 determines as Yes.
Conversely, as shown in FIG. 6B, although the distance D2 is changed, if the situation is not included in the change parameter 520 or is less than the threshold, the automatic operation unit 200 determines No. .
In the case of Yes, the automatic driving unit 200 proceeds with the process to step S211.
In the case of No, the automatic operation unit 200 proceeds with the process to step S212.

(Step S211)
If the situation is the same as in the previous intervention, the automatic operation unit 200 performs the change parameter control process.
The automatic operation unit 200 changes the standard parameter 510 to the change parameter 520 and executes the automatic operation. Specifically, the automatic driving unit 200 refers to each set value corresponding to the current situation of the change parameter 520, switches to the time and the time when each set value is applied, and continues the automatic operation execution processing. Here, the process proceeds to step S202 in FIG.
This makes it possible to execute control of automatic driving in accordance with the preference of the driver.

(Step S212)
If the situation is not the same as in the previous intervention, the automatic operation unit 200 performs standard parameter control processing.
The automatic operation unit 200 executes the automatic operation with reference to the standard parameter 510 of the control parameter 410. In the example of FIG. 6 (b), the automatic operation unit 200 performs an automatic operation execution process with each set value of the standard parameter 510 as it is.
Thereafter, the automatic operation unit 200 proceeds the process to step S202 in FIG.
This is the end of the detailed description of the automatic driving execution process of the present embodiment.

By configuring as described above, the following effects can be obtained.
In recent years, it has become possible to control a car safely in automatic driving. However, even if safe automatic driving can be guaranteed, not all drivers feel safe. For this reason, conventional automatic driving may be felt as "lack of humanity" for the driver, and it may be difficult to feel a sense of security. As a matter of fact, it is possible to make various variations (flavoring) in control when performing safe driving. And, with this seasoning, whether the driver feels a sense of security, the degree of feeling a sense of security, etc. has changed. These were also different depending on individual differences. For this reason, it has been required that "averaged driver" be "seasoned" in automatic driving in which a sense of security is given with high probability.
However, in this regard, the technology described in Patent Document 1 performs control using an uncertain element of emotion estimation, so that the robustness of the control logic can not be ensured, and the accuracy of automatic driving can not be ensured. Was not able to control properly.
On the other hand, the automatic driving adjustment system X according to the first embodiment of the present invention includes the automobile 2 which performs automatic driving, and the adjusting device 1 which is the automatic driving adjusting device which adjusts the automatic driving. It is a system. In the automatic driving unit 200 that executes automatic driving with the control parameter 410 set by the adjustment device 1, and the automatic driving performed by the automatic driving unit 200, the automobile 2 indicates a situation at the time of intervention by the driver And an information transmission unit 210 that transmits the information 500 to the adjustment device 1. The adjustment device 1 analyzes the situation corresponding to the situation acquisition unit 100 acquiring the situation information 500 from the automobile 2 and the situation information 500 acquired by the situation acquisition unit 100, and the situation is changed. And a parameter setting unit 110 configured to change a control parameter 410 of the automatic driving in the situation.
The control parameter 410 is set by analyzing the situation information 500 indicating the situation at the time of “intervention” which is configured in this way, which is the driver's active feedback. This makes it possible to optimize the vehicle motion control parameter 410 in consideration of the driver's preference at the time of automatic driving. As a result, it is possible to eliminate the driver's sense of incompatibility with the "lack of humanity" automatic driving. That is, it is possible to adjust the optimum automatic driving seasoning in accordance with the driver's preference characteristics, and to realize appropriate automatic driving in harmony with the environment and the driver.

In addition, when testing a driver in actual automatic driving, it is difficult to control the driver so that he feels uneasy and verification is difficult in the real world. That is, even in the control of the automatic driving in the state where the safety is secured, it was not possible to know the setting value of the control parameter accurately as to how much the driver does not feel a sense of security.
On the other hand, conventionally, in order to verify the relationship between a sense of security and the seasoning of automatic driving, a large amount of data collection and analysis work have been required. And this analysis was performed using a questionnaire. However, mere questionnaires have difficulty in obtaining necessary information comprehensively, tend to be inaccurate, and can only be evaluated qualitatively. In other words, it has been difficult to establish a statistical model of driver behavior that takes individual differences into consideration.
On the other hand, the automatic driving adjustment system X according to the present embodiment can obtain objective and detailed data of the situation at the time of the driver's intervention, which can not be achieved by the conventional technique or the simple questionnaire. In addition, by analyzing the relationship between the driver's intervention and the situation without relying on vague data such as the surrounding environment or emotion sensing in the past, it is possible to statistically model the driver's preference during automatic driving. Become. That is, although it is safe in practice, it is possible to analyze a situation in which it feels non-preferred and intervenes by automatic driving, and to accurately evaluate what kind of situation and control give anxiety.
As a result, while learning the preference of the driver, it is possible to adjust the flavoring of automatic driving that is optimal for the driver, and to realize the automatic driving of flavoring that matches the preference of the driver.

The adjustment device 1 according to the first embodiment of the present invention is characterized in that the control parameter 410 for automatic driving is an inter-vehicle distance setting value, an acceleration setting value, and / or a steering setting value.
By configuring in this way, proper control can be performed on the inter-vehicle distance setting value, the acceleration setting value, and / or the steering setting value to ensure safety and to realize automatic driving that does not give the driver a sense of anxiety. Can. As a result, it is possible to control fine-grained automatic driving giving a more secure feeling.

The parameter setting unit 110 of the adjustment device 1 according to the first embodiment of the present invention sets, in the control parameter 410, the change parameter 520 for performing control at the time of intervention separately from the standard parameter 510 for performing standard control. . In addition, when the situation is the same as in the previous intervention, the autonomous driving unit 200 of the automobile 2 changes the standard parameter 510 to the change parameter 520 and executes the autonomous driving.
By configuring in this way, for example, when the driver learns to drive and does not like to control the change parameter 520 preferably, even if the change parameter 520 is mis-set due to over-learning etc. It can be easily returned to 510. That is, when the driver preference is not reflected in practice, it is easy to switch to the control with the standard parameter 510. For this reason, automatic driving more suitable for the driver's preference becomes possible.

Further, in automatic driving, the driver may feel anxious feeling (discomfort) when trying to control as fast as possible about the distance between the vehicle and steering or acceleration / deceleration after securing safety. For this reason, trial and error have been continued as to how to adjust the control of the automatic driving in accordance with the driver's preference.
On the other hand, the adjustment device 1 according to the first embodiment of the present invention is characterized in that the parameter setting unit 110 sets the control parameter 410 so that the control of the automatic operation becomes gentle.
By configuring in this way, quick control can be performed while preventing the driver from feeling unpleasant, and automatic operation of seasoning that matches the driver's preference can be realized.

Other Embodiments
In the first embodiment described above, although the adjusting device 1 and the vehicle 2 are described as separate devices, the adjusting device 1 and the vehicle 2 may be configured as the same device.
Further, in the first embodiment described above, the features of the present invention have been mainly described. However, the combination of the configurations of the functional units in these embodiments is arbitrary. That is, the configuration of any of the above-described embodiments, the configuration of any combination, or the configuration including all the functional units may be employed.
In addition, each device may further include a functional unit not described in each of the above-described embodiments.

  Further, it goes without saying that the configuration and operation of the above-described embodiment are examples and can be appropriately changed and executed without departing from the spirit of the present invention.

Reference Signs List 1 adjustment device, 2 car, 3 network, 10, 20 control unit, 11, 21 storage unit, 22 sensor, 100 situation acquisition unit, 110 parameter setting unit, 200 automatic operation unit, 210 information transmission unit, 400 situation DB, 410 Control parameters, 500 status information, 510 standard parameters, 520 change parameters, A1 own vehicle, A2 other vehicles, D, D1, D2 distance, X automatic operation adjustment system

Claims (7)

A situation acquisition unit (100) for acquiring situation information (500) indicating a situation in intervention by the driver during automatic operation;
The situation corresponding to the situation information (500) acquired by the situation acquisition unit (100) is analyzed, and when the situation has changed, the control parameter (410) of the automatic driving in the situation is changed And a parameter setting unit (110) for setting. The automatic driving adjustment device according to claim 1, wherein the control parameter (410) of the automatic driving is an inter-vehicle distance setting value, an acceleration setting value, and / or a steering setting value. The automatic operation adjustment device according to claim 1 or 2, wherein the parameter setting unit (110) sets the control parameter (410) such that control of the automatic operation becomes gentle. The parameter setting unit (110) sets, in the control parameter (410), a change parameter (520) for performing control at the time of intervention separately from a standard parameter (510) for performing standard control. The automatic operation adjustment device according to any one of the above. An automatic operation adjustment system (X) including an automobile (2) performing automatic operation and an automatic operation adjustment device (1) adjusting the automatic operation,
The car (2) is
An automatic operation unit (200) that executes the automatic operation with a control parameter (410) set by the automatic operation adjustment device (1);
And an information transmission unit (210) for transmitting, to the automatic driving adjustment device (1), status information (500) indicating a status of intervention by the driver during the automatic driving performed by the automatic driving unit (200).
The automatic operation adjustment device (1)
A situation acquisition unit (100) for acquiring the situation information (500) from the car (2);
The situation corresponding to the situation information (500) acquired by the situation acquisition unit (100) is analyzed, and when the situation has changed, the control parameter (410) of the automatic driving in the situation is changed Automatic operation adjustment system comprising a parameter setting unit (110) to set. The automatic operation adjustment device (1)
The parameter setting unit (110) sets, in the control parameter (410), a change parameter (520) for performing control at the time of intervention separately from a standard parameter (510) for performing standard control;
The car (2) is
The automatic operation unit (200) performs the automatic operation by changing the standard parameter (510) to the change parameter (520) when the situation is the same as in the previous intervention. Automatic operation adjustment system as described in. An automatic operation adjustment method performed by an automatic operation adjustment device (1), comprising:
During automatic driving, obtain situation information (500) indicating the situation in the intervention by the driver,
An automatic driving adjustment method, which analyzes the situation corresponding to the acquired situation information (500) and changes the control parameter (410) of the automatic driving in the situation when the situation has changed.

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